#include "FreeRTOS.h"
#include "task.h"

#include "strategy.h"
#include "motor_controller.h"
#include "amt1450_uart.h"
#include "mpu6050.h"


void vTaskStrategy(void *pvParameters) {
	uint8_t begin_Color;
	uint8_t jump_Count;
	uint8_t jump_Location[6];
	static float pitch, roll, yaw;
	float nSpeed = 0;
	while(1) {
		// 测试代码 begin
		Get_AMT1450Data_UART(&begin_Color, &jump_Count, jump_Location);
		printf("begin_Color: %d; jump_Count: %d; jump_Location: %d\r\n", begin_Color, jump_Count, jump_Location[0] + jump_Location[1]);
		Motor_SetSpeed_Test(&nSpeed);
		//MPU6050_Get_Euler(&pitch, &roll, &yaw);
		//printf("Pitch: %f; Roll: %f; Yaw: %f\r\n", pitch, roll, yaw);
		printf("Hello World!\r\n");
		vTaskDelay(10);
		// 测试代码 end
	}
}
